中文摘要：

基于三维视觉技术,提出了自动化焊接机器人的焊接路径规划系统。系统采用索贝尔和拉普拉斯算法两种图像处理技术计算三维扫描点云的边缘并删除离群值,获得了最小的扫描及计算时间成本。该系统还为用户提供了一个方便的界面,既可以修改焊炬取向,又能用于开发新的焊接任务。将三维视觉技术成功用于复杂几何形状工件的测量与焊接过程。

英文摘要：

Based on 3D vision technology,atttomatic welding robot path planning system is put tbrward.Two kinds of image processing technology Sobel and Laplace algorithm are used in this system to calculate cloud edge of 3D scanning points and remove outliers, and obtain the smallest cost of scala and time calculation.This system also provides a convenient interface for users,not only can modify the welding torch orientation,but also develop new welding task.In this paper,3D vision technology has been successfully used for the measurement of the workpiece with complex geometrical shape as well as the welding process.